SYNTHESIS OF MANIPULATION ROBOT PROGRAM TRAJECTORIES WITH CONSTRAINTS IN THE FORM OF OBSTACLES
Muhit Baybatshaev
K.I. Satpayev Kazakh National Technical University (Kazakhstan)
Akambay Beysembaev
sla-taraz@mail.ruK.I. Satpayev Kazakh National Technical University (Kazakhstan)
Abstract
The paper presents a method of synthesis of manipulation robot motion trajectory according to mobility degrees. The configuration of the manipulator parts and obstacles are approximated by semiinfinite spaces limited by planes. The fact of robot collision with obstacles is reduced to the problem of determining the compatibility of systems of linear inequalities. The authors developed an algorithm for solving the problem based on dynamic programming method.
Keywords:
robot trajectory, the degree of mobility, the manipulatorReferences
Baybatshaev M.S., Beisembaev A.A.: Models and Algorithms for the Synthesis of Program Trajectories by Manipulation Robot Mobility Degrees. Proceedings of the International Scientific-Practical Conference KazNTU to Education, Science and Industry of the Republic of Kazakhstan, KazNTU Almaty, 1998, p. 278-280.
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Authors
Muhit BaybatshaevK.I. Satpayev Kazakh National Technical University Kazakhstan
Authors
Akambay Beysembaevsla-taraz@mail.ru
K.I. Satpayev Kazakh National Technical University Kazakhstan
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